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Found 9 papers, 1 papers with code
AMO: Adaptive Motion Optimization for Hyper-Dexterous Humanoid Whole-Body Control
Humanoid robots derive much of their dexterity from hyper-dexterous whole-body movements, enabling tasks that require a large operational workspace: such as picking objects off the ground.
Visual Acoustic Fields
Meanwhile, the sound localization module enables querying the 3D scene, represented by the feature-augmented 3DGS, to localize hitting positions based on the sound sources.
M3: 3D-Spatial MultiModal Memory
We present 3D Spatial MultiModal Memory (M3), a multimodal memory system designed to retain information about medium-sized static scenes through video sources for visual perception.
Humanoid Policy ~ Human Policy
The state-action space of HAT is unified for both humans and humanoid robots and can be differentiably retargeted to robot actions.
WildLMa: Long Horizon Loco-Manipulation in the Wild
'In-the-wild' mobile manipulation aims to deploy robots in diverse real-world environments, which requires the robot to (1) have skills that generalize across object configurations; (2) be capable of long-horizon task execution in diverse environments; and (3) perform complex manipulation beyond pick-and-place.
GraspSplats: Efficient Manipulation with 3D Feature Splatting
With extensive experiments on a Franka robot, we demonstrate that GraspSplats significantly outperforms existing methods under diverse task settings.
Feature Splatting: Language-Driven Physics-Based Scene Synthesis and Editing
Scene representations using 3D Gaussian primitives have produced excellent results in modeling the appearance of static and dynamic 3D scenes.
Visual Whole-Body Control for Legged Loco-Manipulation
We propose a framework that can conduct the whole-body control autonomously with visual observations.
Learning Generalizable Feature Fields for Mobile Manipulation
An open problem in mobile manipulation is how to represent objects and scenes in a unified manner so that robots can use both for navigation and manipulation.
